{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Visualize the environment AntBulletEnv-v0"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import sys\n",
    "import logging\n",
    "import imp\n",
    "import itertools\n",
    "import time\n",
    "\n",
    "import numpy as np\n",
    "np.random.seed(0)\n",
    "import gym\n",
    "import pybullet_envs # This import registers the environment in gym\n",
    "import pybullet as p\n",
    "\n",
    "imp.reload(logging)\n",
    "logging.basicConfig(level=logging.DEBUG,\n",
    "        format='%(asctime)s [%(levelname)s] %(message)s',\n",
    "        stream=sys.stdout, datefmt='%H:%M:%S')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Environment"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "scrolled": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "00:01:18 [INFO] env: <AntBulletEnv<AntBulletEnv-v0>>\n",
      "00:01:18 [INFO] action_space: Box([-1. -1. -1. -1. -1. -1. -1. -1.], [1. 1. 1. 1. 1. 1. 1. 1.], (8,), float32)\n",
      "00:01:18 [INFO] observation_space: Box([-inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf\n",
      " -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf], [inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf\n",
      " inf inf inf inf inf inf inf inf inf inf], (28,), float32)\n",
      "00:01:18 [INFO] reward_range: (-inf, inf)\n",
      "00:01:18 [INFO] metadata: {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 60}\n",
      "00:01:18 [INFO] _max_episode_steps: 1000\n",
      "00:01:18 [INFO] _elapsed_steps: None\n",
      "00:01:18 [INFO] id: AntBulletEnv-v0\n",
      "00:01:18 [INFO] entry_point: pybullet_envs.gym_locomotion_envs:AntBulletEnv\n",
      "00:01:18 [INFO] reward_threshold: 2500.0\n",
      "00:01:18 [INFO] nondeterministic: False\n",
      "00:01:18 [INFO] max_episode_steps: 1000\n",
      "00:01:18 [INFO] _kwargs: {}\n",
      "00:01:18 [INFO] _env_name: AntBulletEnv\n"
     ]
    }
   ],
   "source": [
    "env = gym.make(\"AntBulletEnv-v0\")\n",
    "env.seed(0)\n",
    "for key in vars(env):\n",
    "    logging.info('%s: %s', key, vars(env)[key])\n",
    "for key in vars(env.spec):\n",
    "    logging.info('%s: %s', key, vars(env.spec)[key])\n",
    "\n",
    "\n",
    "def adjust_camera():\n",
    "    distance, yaw, pitch = 2, 0, -20\n",
    "    num_bodies = p.getNumBodies()\n",
    "    torse_ids = [body_id for body_id in range(num_bodies) if p.getBodyInfo(body_id)[0].decode(\"ascii\") == \"torso\"]\n",
    "    torse_id = torse_ids[0]\n",
    "    position, orientation = p.getBasePositionAndOrientation(torse_id)\n",
    "    p.resetDebugVisualizerCamera(distance, yaw, pitch, position)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Agent"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "class Agent:\n",
    "    def reset(self, mode):\n",
    "        pass\n",
    "\n",
    "    def step(self, observation, reward, done):\n",
    "        weights0 = np.array([\n",
    "                [ +0.2856, -0.4091, +0.3380, -0.1083, +0.1049, -0.0806, -0.0827, +0.0402, +0.2415, +0.0927, +0.1812, +0.5455, +0.3157, +0.1043, +0.0527, +0.3768, -0.2083, +0.1218, -0.0633, +0.3236, +0.2198, +0.0513, +0.3505, -0.1165, -0.1732, +0.2760, +0.0006, +0.0249, +0.5887, -0.2324, +0.1503, -0.0108, +0.1220, +0.2527, +0.0984, +0.5360, -0.0579, -0.0847, +0.1649, +0.0589, -0.2046, +0.5981, -0.1063, -0.1088, +0.3424, +0.3479, -0.1751, +0.2924, -0.0610, +0.0807, +0.3291, +0.0059, +0.0339, -0.2823, +0.2533, +0.3156, +0.1679, +0.2417, +0.1265, +0.0024, +0.0802, +0.2531, -0.2576, +0.3894, +0.3206, +0.2015, +0.3482, +0.1042, -0.2418, -0.0002, +0.1277, +0.1811, +0.1551, +0.5460, +0.1714, +0.1021, -0.1252, +0.0609, -0.0372, -0.0351, +0.1216, +0.0023, -0.2448, +0.0077, +0.0584, +0.2389, -0.0848, +0.3542, +0.3065, -0.2268, +0.2387, +0.3303, +0.4184, -0.1619, +0.2230, +0.2829, +0.3884, +0.1262, +0.6383, -0.1629, +0.3087, +0.0554, +0.2294, +0.0280, +0.4139, -0.1484, +0.1358, +0.3153, -0.2652, +0.2637, -0.1563, +0.0706, +0.4192, +0.2381, -0.3540, +0.2789, +0.2647, +0.0931, +0.1439, +0.3415, -0.2445, +0.1039, -0.3692, +0.5095, +0.0010, +0.0777, +0.3382, -0.1100],\n",
    "                [ +0.0820, +0.6327, +1.0135, -0.1423, -0.0275, +0.0396, -0.5933, +0.3027, -0.2220, +0.1476, -0.0591, -0.7910, -0.0776, +0.2565, +0.0241, -1.1300, +0.1324, +0.9079, +0.2318, +0.5574, +1.0162, +0.1408, +0.7525, +0.3612, +0.6088, -0.2541, +0.8134, +0.1348, -0.1265, +0.7991, -0.2304, -0.4826, -0.4123, +0.2831, -0.5457, -0.3518, -0.9733, -0.1654, +0.2409, +0.3971, +0.6624, +0.0728, +0.2200, -0.2126, -0.5299, -0.1858, -0.3467, -0.2776, -0.2004, -0.7567, +0.4417, -0.4378, -0.6799, +0.3789, +0.2937, -0.1247, +0.5540, -1.0124, -0.5759, +0.0308, +0.2971, +1.1300, -0.1185, +0.5303, +0.0527, +0.3392, +0.7436, -0.3578, -0.0559, +0.2165, -0.5860, +0.9427, -0.2522, -0.0805, +0.9314, +1.4173, +0.6216, +0.6923, +0.6592, -0.0457, +0.5152, -0.3523, -0.5135, +0.6466, -0.4804, +0.0006, +0.3223, -0.1548, +1.5508, +0.6204, +0.2618, -0.0392, -0.6208, +0.0237, +0.0577, -0.2913, -0.3893, -0.1459, -0.1103, +0.7485, -0.0045, +0.0640, +0.0726, -0.0966, +0.0452, +0.2741, -0.3389, +0.8830, +0.9819, +0.3915, -0.1127, -0.2653, -0.6842, +0.2389, -0.4349, +1.4013, -0.4442, +1.1846, -0.7550, +0.5812, -0.2940, +0.7046, +0.4730, -0.2155, +0.1432, +0.1518, +0.5336, -0.0827],\n",
    "                [ -0.2503, +0.2354, -0.0468, +0.1318, -0.0161, +0.1235, -0.1649, -0.1380, -0.1816, -0.0953, -0.0303, -0.4337, +0.0159, -0.2893, -0.1178, -0.1779, +0.0557, -0.0788, -0.1745, -0.1349, +0.1942, +0.1707, -0.3289, +0.1177, -0.3084, +0.0423, +0.0006, -0.1240, -0.2685, -0.0578, +0.3282, -0.3570, +0.0039, +0.3399, -0.3599, -0.3346, -0.2273, -0.0044, -0.0425, -0.2483, -0.2284, -0.5528, -0.2406, -0.0144, -0.0306, +0.1037, +0.0497, -0.3302, +0.0505, +0.0054, -0.2037, -0.0112, +0.1068, -0.1273, +0.1019, -0.0463, -0.0527, -0.0015, -0.1546, -0.2187, +0.0633, -0.1969, -0.0954, -0.0111, -0.5329, +0.1480, -0.1007, +0.1115, -0.0692, -0.3348, +0.1361, -0.1606, -0.1103, -0.3221, -0.2678, -0.1543, -0.4900, -0.2455, -0.0798, -0.0545, +0.0848, +0.0149, -0.1908, +0.1721, +0.0687, -0.2002, -0.1194, +0.1023, -0.3005, -0.2030, -0.0681, -0.2440, -0.2892, -0.4305, -0.2357, +0.0932, -0.4055, -0.0629, -0.1043, -0.5354, -0.1120, -0.1867, -0.1219, -0.2403, -0.5562, -0.1247, -0.5158, -0.0720, -0.2935, -0.2138, +0.1382, +0.3068, -0.1444, +0.0100, -0.3312, -0.6305, +0.0030, -0.2372, -0.0005, -0.3775, +0.1123, +0.0166, -0.0000, -0.0605, -0.5071, +0.0482, -0.1440, -0.0311],\n",
    "                [ -0.2697, +0.0706, +0.3032, -0.1729, +0.3361, -0.0424, -0.1621, -0.1890, +0.0724, -0.4940, +0.0174, +0.2439, -0.4449, +0.2452, -0.2110, +0.2058, -0.3416, -0.0957, +0.0431, +0.2706, +0.0075, -0.2335, -0.4697, -0.4996, -0.0722, -0.2389, -0.0721, -0.2428, +0.4497, +0.1403, +0.0491, +0.3252, -0.3800, -0.2324, +0.2014, +0.4212, +0.4495, -0.2843, +0.2277, +0.0246, -0.6231, -0.1313, -0.5353, -0.3726, -0.1220, -0.6917, -0.2465, -0.1089, -0.2945, +0.5820, -0.2255, +0.0518, +0.1999, +0.0492, +0.1157, -0.0289, -0.7021, +0.2170, +0.2487, -0.1803, -0.0788, -0.7116, +0.2452, +0.0250, +0.5466, -0.6420, -0.0797, -0.5767, -0.1020, +0.3390, -0.1549, +0.4149, +0.1835, +0.8112, -0.3514, +0.3155, -0.6475, -0.2191, +0.1377, +0.0273, -0.0859, +0.0621, -0.9109, -0.3396, +0.3122, -0.2752, -0.3375, -0.2920, +0.1554, -0.6032, -0.3321, +0.1136, -0.0712, -0.3951, +0.2268, -0.2402, +0.4850, +0.1052, +0.5524, -0.4844, +0.5053, +0.0377, -0.1097, +0.2861, -0.1864, -0.3226, -0.0154, -0.2144, -0.6764, -1.0064, -0.2201, -0.3494, -0.1009, -0.0346, +0.0222, -0.4648, -0.6888, +0.0936, -0.7490, +0.2389, -0.0461, -0.0490, -0.4350, -0.5020, -0.6949, +0.3147, +0.3905, -0.4302],\n",
    "                [ -0.5894, -0.0462, -0.0671, +0.1779, -0.2985, -0.0093, +0.1025, -0.2851, -0.5022, +0.4617, -0.0050, -0.4186, -0.4120, +0.5342, -0.4466, -0.5710, -0.0778, +0.5455, +0.4230, -0.1727, +0.0248, +0.6199, -0.0249, -0.0536, -0.2538, -0.0548, -0.5637, +0.1861, -0.3756, +0.6562, -0.0309, -0.7059, -0.5196, -0.6593, -0.0786, -0.4255, -0.2951, -0.3396, +0.2999, +0.2590, +0.5004, +0.3659, -0.1944, -0.5518, -0.0093, +0.3915, -0.0654, +0.7140, -0.0118, -0.3306, +0.4059, -0.5650, -0.4346, +0.8268, -0.2418, -0.6769, -0.1529, -0.1019, -0.0935, -0.4321, +0.3257, -0.2702, -0.0989, +0.2711, -0.6210, +0.4389, +0.3887, -0.1652, -0.0982, +0.0433, -0.1120, +0.2608, +0.1155, -0.3326, -0.5094, +0.0474, +0.1239, -0.2204, -0.1056, -0.6978, +0.1862, -0.2300, -0.1165, +0.1509, +0.7566, -0.5543, +0.3839, -0.5120, +0.3099, -0.2034, +0.7276, +0.2385, -0.7288, -0.1266, -0.2343, -0.5672, -0.0057, -0.0186, -0.3665, -1.2855, +0.6746, -0.1203, -0.3309, -0.8603, +0.4811, -0.1538, +0.5446, +0.0038, +0.1556, +0.5776, -0.1994, -0.3110, -0.4141, +0.0772, +0.1195, +0.4368, +0.3796, +0.3990, -0.3452, +0.0268, -0.0037, -0.2803, +0.7420, -0.5205, +0.7103, +0.0814, +0.0917, +0.5727],\n",
    "                [ +0.9108, -1.2019, -0.8828, -0.0571, +0.4640, -0.4255, -0.3412, -0.1130, +0.5679, -0.0657, +0.0851, -0.4367, -0.3447, -1.0903, -0.1277, +0.0440, +0.1664, +0.3279, -0.1176, -0.2553, -0.5594, -0.1823, +0.0093, -0.1161, +0.0341, -0.9688, -0.2799, +0.7136, +0.4686, -0.7197, -0.0798, -0.4068, -0.2519, +0.3220, +0.6010, +0.6546, -0.5138, +0.6600, -0.2747, -0.6502, +1.1478, +0.7705, -0.8645, -0.7124, +0.4578, -0.1423, -0.6454, -0.6139, -0.2964, -0.3525, +0.2287, -0.5368, -1.0776, -0.0507, -0.3517, -0.5014, -0.1767, -0.5016, +0.8044, -0.3985, +0.2099, +0.2479, -1.3310, +0.1198, +0.9254, -0.4103, +0.0248, -0.3546, +0.2374, +0.7145, -0.2494, -0.2125, -0.3934, +0.2301, -0.7252, +0.0734, +0.2172, +0.1852, -0.4918, -0.6549, +0.3549, +0.9117, -0.2437, +0.4721, +0.7126, +0.5653, +0.4648, -0.0169, -0.1650, +1.1287, +0.2412, +1.1366, +0.9122, +0.2840, -0.7930, +0.6158, -1.0912, +0.2805, +1.1295, -0.4873, +1.0141, -0.5452, +0.2255, +0.9590, +0.4029, -1.3217, +0.1508, +0.8827, -0.8346, +0.1531, -0.9785, -0.1839, +1.2149, +1.0538, +0.3230, +0.0808, -0.1425, -1.4677, +0.1845, +0.6411, -0.8535, +1.3519, -0.1753, +0.4364, -0.1985, -0.2911, +0.2662, -0.9084],\n",
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    "                [ +0.0151, -0.3742, +0.0016, +0.2834, +0.1383, +0.0585, -0.7797, +0.2568, -0.2497, +0.0606, +0.1941, +0.1929, +0.0807, -0.0506, +0.0821, +0.2228, +0.0671, -0.3058, +0.1571, +0.0677, -0.2029, +0.2194, -0.2530, +0.0500, -0.4600, -0.2309, -0.0687, -0.3576, +0.0130, -0.0976, -0.0143, +0.1618, -0.3840, -0.0062, +0.1015, +0.2622, +0.0436, -0.2084, -0.3667, -0.0176, +0.3798, -0.1638, +0.3623, +0.0450, +0.1132, -0.2585, +0.3003, +0.0910, -0.3317, -0.3344, -0.0952, -0.2291, +0.2999, -0.0652, +0.2557, -0.3650, +0.0745, +0.0989, +0.1088, +0.2606, -0.3433, -0.2269, +0.1071, -0.4127, +0.0438, -0.0027, -0.4558, -0.8596, -0.0528, -0.3395, +0.2788, -0.0144, -0.5132, -0.1118, +0.1520, +0.1987, -0.6925, -0.3463, -0.5606, +0.2373, -0.0452, -0.1289, +0.4662, -0.3166, +0.0866, +0.2533, +0.4591, -0.0308, -0.3316, +0.1370, -0.1116, -0.1013, -0.0797, +0.1959, -0.4299, -0.1954, +0.2309, +0.2581, -0.0489, +0.1615, +0.6893, +0.1740, +0.1636, -0.1154, +0.3753, +0.0447, +0.0770, +0.1540, -0.2353, +0.2607, -0.1375, +0.2752, +0.0977, -0.1261, +0.6568, +0.0207, +0.1612, +0.2390, -0.7583, -0.0295, -0.1044, -0.3573, -0.0536, +0.1232, -0.4262, +0.0862, -0.0726, +0.3601],\n",
    "                [ -0.5548, -0.1920, -0.1439, -0.2483, -0.2082, +0.2122, +0.2975, -0.0369, +0.1039, +0.1244, -0.2222, -0.4510, -0.0367, -0.3843, +0.0420, -0.0774, -0.4945, -0.1076, +0.0751, -0.3280, +0.1379, -0.3938, -0.3873, +0.3270, +0.0236, +0.0715, +0.0896, +0.1184, -0.2641, +0.0510, -0.3702, +0.0130, +0.3300, +0.0556, +0.2294, +0.1442, -0.1642, +0.2728, -0.2139, +0.0856, +0.2201, -0.1087, +0.3973, -0.1710, -0.3188, -0.2484, -0.2577, +0.4702, -0.4588, -0.1338, -0.0958, -0.1490, -0.0467, +0.2776, -0.1214, +0.0956, -0.2453, -0.1851, -0.6091, -0.2544, -0.0672, +0.0316, -0.2612, -0.1510, +0.0608, -0.4044, -0.5566, -0.3592, -0.5053, -0.2740, -0.5723, -0.2479, -0.3828, -0.0039, +0.2360, -0.3965, +0.2531, -0.2019, -0.5607, +0.1221, -0.0773, -0.0489, -0.4456, -0.0804, +0.0646, +0.2497, -0.4190, +0.0741, -0.6103, -0.4852, +0.0652, +0.1799, +0.2872, -0.4064, +0.1900, +0.0633, +0.0661, +0.0996, -0.2651, -0.0885, -0.2680, -0.5878, -0.1839, +0.2367, +0.3337, +0.1498, -0.3725, +0.3615, -0.5109, -0.1843, -0.1727, -0.1397, +0.1574, +0.0561, +0.3344, +0.0321, +0.0132, +0.0869, -0.2513, +0.2337, -0.2482, -0.0790, +0.1544, -0.3034, -0.1849, +0.0757, -0.2174, -0.5574],\n",
    "                [ +0.5490, -0.4549, -0.1807, -0.1592, -0.3788, -0.5189, -0.3193, -0.2197, +0.1731, +0.0376, -0.0203, +0.1929, +0.2335, -0.1647, -0.1995, +0.0219, +0.0582, +0.4244, -0.5565, +0.0563, -0.1738, +0.0395, +0.3419, -0.4511, +0.3530, -0.0868, +0.1509, -0.3145, +0.1942, -0.5813, -0.5611, -0.2145, +0.3324, -0.1938, -0.1914, -0.1679, +0.1673, +0.0441, -0.1303, -0.0111, -0.5023, -0.2911, +0.2364, -0.0646, -0.0100, -0.0791, +0.2281, -0.1580, +0.5276, -0.0730, +0.3710, -0.0632, -0.2827, -0.4295, -0.9110, -0.0882, -0.0346, -0.1583, -0.7173, -0.1413, -0.6280, +0.1766, -0.2437, -0.3187, -0.2748, -0.1086, -0.2328, +0.3354, -0.3041, -0.0570, +0.1021, -0.3893, +0.0137, -0.1443, +0.2737, -0.0007, -0.3881, +0.1483, +0.5163, -0.3890, -0.2129, -0.0672, +0.0883, +0.3756, -0.5196, -0.0377, +0.3687, +0.0005, -0.0266, -0.5761, -0.1695, -0.3244, +0.2822, +0.5312, -0.4635, +0.0570, +0.1477, -0.0760, -0.0655, -0.0777, -0.3997, -0.6029, +0.0564, -0.4778, -0.3137, -0.5685, -0.1534, -0.1205, -0.1739, +0.3745, +0.1266, -0.1687, -0.7521, +0.1720, -0.6872, +0.2064, -0.1344, +0.1887, -0.1305, +0.2296, -0.2478, +0.1684, -0.0571, -0.0419, -0.3555, +0.0154, -0.3511, -0.0239],\n",
    "                [ -0.3780, -0.0914, -0.1854, -0.0867, +0.0707, -0.0432, +0.1008, -1.0046, +0.1248, +0.0778, -0.0427, +0.2416, +0.0008, -0.0101, -0.4476, -0.5558, +0.0581, -0.6113, -0.2540, -0.6178, -0.4318, -0.3423, +0.3608, -0.1651, -0.3607, +0.1386, -0.3745, +0.0981, -0.4823, +0.0222, +0.2264, -0.2605, +0.3376, +0.3309, -0.2458, -0.4256, -0.2320, -0.1249, +0.0601, +0.4954, +0.0609, -0.0214, -0.5550, -0.5377, -0.1116, +0.3434, +0.2198, -0.2050, -0.1425, -0.1160, -0.1088, +0.3296, -0.1532, -0.1229, -0.1750, -0.2386, +0.2166, +0.1215, +0.1890, -0.4310, -0.2282, -0.0927, -0.1166, +0.1719, -0.4427, +0.0348, -0.3925, -0.0549, -0.1108, +0.1640, +0.1764, +0.2961, +0.4874, -0.5198, -0.1629, -0.1281, +0.0984, +0.2756, -0.3100, +0.4790, -0.1045, -0.1158, -0.1894, -0.0491, +0.2014, -0.1137, -0.3516, -0.3540, -0.2153, +0.1554, -0.2093, -0.7217, -0.0483, -0.1205, -0.0052, +0.0623, -0.9125, -0.2332, -0.4875, +0.5284, +0.3595, +0.2822, +0.0158, -0.4752, -0.1192, +0.2230, -0.0346, -0.7476, +0.1063, +0.2522, -0.4063, -0.1613, -0.0444, -0.1514, -0.1480, -0.0707, -0.0311, -0.6826, +0.0449, -0.0401, -0.0937, -0.1488, -0.0981, -0.3116, +0.5926, -0.7581, +0.4659, -0.1110],\n",
    "                ])\n",
    "\n",
    "        bias0 = np.array([ -0.0148, -0.0390, -0.2168, -0.0866, -0.0677, -0.1575, +0.0077, -0.1385, -0.0953, -0.2318, -0.1402, -0.0267, -0.0565, -0.1655, -0.0944, -0.1856, +0.1183, -0.0606, -0.1517, -0.1972, -0.0256, -0.1761, -0.2543, -0.1125, -0.1902, -0.1462, +0.0160, -0.2130, -0.1644, +0.0530, -0.0384, -0.1030, -0.1822, -0.0219, -0.1597, -0.1946, -0.1177, -0.1970, -0.1569, -0.2162, -0.0256, -0.2618, -0.2127, -0.0910, -0.1862, -0.0517, -0.0811, -0.2137, +0.0810, -0.2098, -0.2763, -0.0980, -0.0986, -0.0983, -0.2186, -0.1723, -0.0822, -0.1072, -0.1466, -0.3015, +0.2120, -0.0178, +0.0700, -0.1122, -0.2641, -0.1767, -0.0722, +0.0859, -0.3453, -0.2988, -0.0838, -0.1928, -0.0916, -0.1749, -0.0969, -0.2420, -0.0859, -0.1487, -0.0692, -0.0028, -0.0989, -0.1322, -0.0582, -0.2906, -0.1255, -0.0026, +0.0352, -0.2485, -0.0592, -0.0695, -0.1047, -0.1616, -0.2268, -0.1474, -0.2683, +0.1161, -0.1794, -0.1011, -0.1924, +0.0348, -0.0169, -0.3281, -0.2085, -0.2750, -0.3329, -0.1793, -0.2296, -0.2289, -0.1589, -0.3225, +0.0159, -0.2951, -0.0156, -0.0544, -0.1193, -0.1563, -0.1691, -0.1292, +0.0228, -0.2741, -0.0235, -0.0564, +0.1007, -0.0648, -0.1383, -0.0235, -0.0557, -0.0005])\n",
    "\n",
    "        weights1 = np.array([\n",
    "                [ +0.0547, +0.0221, +0.0159, -0.3500, +0.1057, -0.3978, -0.4751, -0.2686, -0.2984, -0.3477, -0.7638, +0.3041, -0.9283, +0.3769, +0.3866, +0.1042, -0.5446, -1.0826, -0.3685, +0.0957, -1.1452, +0.4594, -0.2719, -0.5546, -0.4310, +0.4055, +0.3174, -0.6414, +0.4058, +0.0122, -0.6446, +0.0312, -0.2846, +0.3681, -0.2635, +0.4684, -0.0438, -0.1535, +0.0279, -0.3398, +0.0489, +0.2915, -0.2513, -1.0484, +0.1129, -0.7923, +0.1379, -0.2217, +0.1685, -0.0273, +0.2727, -0.1051, -0.3335, +0.4067, +0.1543, -0.0099, -0.2005, -0.5140, -0.1314, -0.0537, -0.6073, -0.2714, +0.4734, +0.0307],\n",
    "                [ +0.1983, -0.4372, +0.2649, -0.6106, -0.5667, +0.2295, +0.2821, -0.1570, +0.1007, +0.0072, +0.1053, +0.1223, +0.5393, +0.0445, +0.4042, +0.1218, +0.1946, +0.3514, +0.6725, +0.3489, -0.2839, -0.3705, +0.2665, +0.2710, +0.2836, +0.1292, -0.2779, -0.3549, -0.6220, -0.0934, -0.6794, +0.2522, -0.0012, -0.7044, +0.0819, -0.1884, -0.5545, +0.2331, +0.0573, +0.1692, +0.3610, -0.5304, +0.0751, +0.4747, -0.1379, +0.1396, -0.1418, +0.2756, -0.3771, -0.5534, -0.7892, -0.5082, -0.4949, -0.5125, +0.3863, -0.4106, -0.3488, +0.3701, -0.0261, -0.2519, +0.3600, -0.0131, -0.5443, -0.2148],\n",
    "                [ -0.4168, +0.0202, -0.3568, +0.3985, +0.0842, -0.1247, -0.1143, +0.3105, +0.0295, +0.1222, -0.9825, +0.2732, +0.1502, -0.1901, +0.2854, -0.0271, +0.2689, +0.2394, -0.0163, +0.3020, +0.1345, +0.2447, -0.1126, -0.5997, -0.1411, +0.3111, +0.1018, -0.1057, -0.2686, -0.0710, -0.2928, -0.0877, -0.5635, -0.0538, +0.0074, +0.0630, -0.9421, -0.1443, -0.7025, -0.5890, -0.2607, -0.3678, -0.9102, -0.0042, -0.0763, -0.2665, +0.2550, -0.1257, -0.0960, -0.4207, -0.3315, +0.3159, -0.1579, +0.6020, +0.1635, -0.1936, +0.1230, -0.0245, -0.1494, -0.1828, -0.1856, -1.0757, -0.9589, -0.2000],\n",
    "                [ +0.3752, -0.3057, +0.3341, -0.2068, +0.3930, -0.3313, -0.3786, +0.2107, +0.0767, +0.2396, +0.4759, +0.4447, -0.0988, -0.3320, -0.3001, +0.1111, -0.3114, -0.0926, +0.5017, -0.0114, -0.2243, -0.0705, -0.2502, +0.1573, -0.5134, -0.0888, +0.3586, +0.1723, +0.1582, +0.3832, -0.4192, -0.3290, +0.1729, +0.0234, +0.3742, +0.2108, +0.0021, +0.1886, +0.4553, -0.0405, -0.2013, +0.0391, +0.0099, -0.3560, -0.2403, -0.5404, -0.0850, -1.1031, +0.2303, +0.2130, -0.0970, -0.0781, -0.1787, +0.0094, +0.0652, +0.0435, +0.1182, -0.3572, -0.1822, +0.3167, -0.4896, -0.3626, -0.1668, -0.2644],\n",
    "                [ -0.3002, -0.1710, +0.0482, -0.2977, +0.6775, +0.2932, +0.3891, -0.1426, -0.3008, +0.1301, -0.6758, -0.1576, +0.1714, +0.3555, -0.6530, +0.2284, -0.5148, -0.2974, +0.1985, -0.0305, +0.5279, -0.3357, -0.4142, -0.2472, -0.0224, -0.1873, +0.1376, -0.4045, +0.1122, +0.2617, +0.4392, -0.1154, -0.2372, -0.0144, +0.0885, -0.4898, +0.1629, +0.2722, -0.4575, -0.2204, +0.5557, -0.3414, +0.1573, -0.0259, +0.0639, -0.1291, -0.6438, -0.6169, +0.2151, -0.0527, +0.1338, +0.1200, +0.0151, -0.4535, +0.3047, -0.4136, -0.0690, -0.8133, -0.3369, -0.2327, +0.3387, -0.6738, -0.2590, -0.2750],\n",
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    "                [ -0.3276, -0.1296, +0.3245, -0.0630, +0.1080, -0.0923, -0.0555, -0.4351, -0.4805, +0.1625, -0.7317, +0.0232, -0.0290, -1.2621, +0.0074, +0.6063, -0.0992, +0.2137, -0.0525, -0.1596, +0.2326, +0.7151, -0.2879, -0.9427, +0.0728, +0.3451, -1.3029, -0.1453, -0.0766, -0.1260, +0.2174, +0.2524, -0.0272, -0.9901, -0.2757, -0.0532, +0.0768, -0.6334, +0.2368, +0.1227, -0.6449, -0.0662, +0.3466, -0.1741, +0.1209, +0.4601, +0.1192, -0.0727, -0.3973, -0.2250, +0.1601, +0.1562, -0.2805, -0.0830, -0.0274, -0.4325, +0.0951, -0.1183, +0.1025, +0.0261, -0.6047, -0.0146, -0.1957, +0.0218],\n",
    "                [ +0.1081, +0.3138, +0.3278, -0.7791, +0.1543, -0.1908, +0.3635, +0.0070, +0.3577, -0.0404, -0.8582, -0.4834, +0.3016, -0.6306, -0.4563, +0.1801, -0.2791, -0.6206, +0.0517, +0.5410, +0.1347, +0.4778, +0.0558, -0.0759, -0.0772, +0.1917, -0.7159, -0.0643, -0.1721, -0.5170, -0.3511, -0.3017, +0.1299, -0.7527, -0.1136, -0.3605, -0.3682, -0.0709, +0.0723, -0.2196, -0.9063, -0.3520, -0.3413, +0.2594, +0.1649, -0.5071, -0.1584, +0.1231, +0.0057, -0.4875, +0.2410, -0.2405, +0.3705, -1.0071, +0.3241, +0.0207, -0.4803, -0.4314, +0.1130, -0.0724, +0.2252, -0.2790, +0.0415, +0.0660],\n",
    "                [ -1.0239, +0.0612, -0.1775, +0.0616, +0.3968, +0.1192, -0.0637, -1.3325, +0.0141, -0.3692, -0.2163, +0.1634, +0.1818, +0.1767, -0.3110, -0.5755, -0.2020, -0.1910, +0.4489, -0.0309, +0.2252, +0.0045, +0.0525, -0.9357, +0.0912, -0.2257, +0.2897, +0.4927, +0.0509, -0.3725, +0.2843, -0.8260, -0.1409, -1.0330, -0.1377, +0.2625, +0.0637, -0.5822, -1.0901, +0.2305, -0.0809, -0.4811, -0.2776, +0.1618, -0.6189, +0.1608, +0.2586, -0.4005, -0.0048, -0.4438, -0.0799, +0.1356, +0.0141, -0.1191, +0.3150, -0.4819, -0.2142, +0.1938, +0.2875, -0.5401, +0.0929, -0.3865, -0.0821, -0.5999],\n",
    "                [ +0.4043, -0.0639, -0.3917, +0.0908, +0.0894, -0.4655, -0.2022, +0.3332, -0.2707, +0.0466, +0.1355, +0.1318, -0.3180, -0.3957, -0.0124, -0.7214, -0.2792, +0.3177, -0.5455, -0.5225, -0.2927, -0.2688, +0.0192, +0.3940, +0.0514, +0.2258, -0.3504, -0.0024, +0.0145, -0.2194, -0.0040, +0.2842, -0.0667, -0.4815, +0.2162, +0.1778, -0.7473, +0.4520, +0.1720, -0.5224, -0.0490, -0.5519, -0.3571, +0.4386, -0.1868, -0.2627, -0.3350, -0.7849, -0.1009, +0.1432, -0.2389, +0.1923, -0.4800, +0.0100, -0.0507, +0.0151, +0.3257, +0.0299, +0.0118, +0.2283, -0.2633, +0.2229, -0.7595, +0.1507],\n",
    "                [ +0.2797, -0.2386, -0.0121, +0.2439, -0.0317, -0.0390, +0.0581, -0.8813, -0.5392, -0.2527, -0.4720, +0.4787, +0.3710, +0.0434, +0.0702, -1.0678, -0.0195, -0.6846, -0.7418, +0.0543, -0.3187, -0.1510, -0.3590, -0.0902, +0.2195, +0.0943, -0.0384, -0.7203, +0.0316, -0.0647, +0.1894, +0.2490, -1.3374, +0.3883, +0.1207, +0.4036, +0.3255, +0.3757, +0.2444, +0.2612, -1.5274, +0.1092, +0.5718, -0.1929, -0.1531, -0.2330, +0.0539, +0.2055, -0.8240, +0.1292, -0.4835, +0.5281, +0.1944, -0.3389, -0.3689, +0.4941, +0.0330, +0.0938, +0.4999, -0.2465, -0.2547, +0.3286, -0.2172, +0.4791],\n",
    "                [ +0.4580, +0.6728, +0.1603, -0.5751, -0.8616, +0.0422, -0.3104, -0.2042, +0.4133, +0.3150, -0.8036, -0.5332, +0.5432, +0.2999, +0.1480, -0.2845, -0.9013, -0.0924, -0.6048, -0.1631, -0.1127, -0.3833, -0.5830, -1.1764, -1.2800, -0.0174, -0.2561, +0.1081, +0.3352, +0.1175, +0.3419, +0.7590, +0.4220, -0.8411, +0.0312, +0.3287, +0.2295, -0.0867, -0.6239, +0.0633, +0.3005, -0.0838, -0.4589, -0.2385, +0.2734, -0.2946, -0.2759, -0.4446, +0.0052, -0.3499, -0.3503, +0.1211, -0.1839, -0.2803, +0.0158, +0.2441, +0.4413, -0.4929, +0.3714, +0.5445, -0.0731, -0.3297, -0.5428, +0.4811],\n",
    "                [ -0.3528, +0.2554, +0.1195, +0.2853, -0.0731, -0.0237, -0.0755, +0.3719, -0.5900, +0.3071, +0.1961, -0.3822, -0.3113, +0.3011, +0.1113, -0.1598, -0.0299, +0.6281, +0.1811, +0.1312, +0.1971, -0.4736, +0.7463, -0.0154, +0.4255, -0.3671, +0.3200, -0.1815, -0.4259, +0.1115, +0.4232, -0.3993, +0.0706, -0.1901, +0.1188, -0.6964, -0.5131, -0.5996, -0.0103, +0.1504, +0.0713, -0.0430, -0.8008, +0.1890, -0.2637, +0.1984, +0.0119, +0.1025, -0.9490, -0.0255, +0.2795, +0.2354, -0.1830, +0.1894, -0.1928, -0.8840, +0.3929, +0.1748, +0.1588, +0.4326, -0.0759, +0.1664, +0.2102, -0.3707],\n",
    "                [ +0.0479, -0.0155, -0.3830, +0.0390, -0.0793, -0.1159, -0.0263, -0.3720, -0.9581, +0.2546, -0.4353, +0.2756, -0.0628, +0.0360, +0.1591, -0.7122, +0.1463, -0.1078, -0.5880, +0.1476, -0.0437, -0.6911, -0.0355, +0.2766, -0.3426, +0.2286, -0.2323, -0.2819, -0.0887, +0.5000, -0.0338, -0.1563, -0.0168, +0.0500, -0.1077, +0.4968, -1.1365, +0.1814, -0.1388, -0.1080, +0.0761, -0.4107, +0.3764, +0.3308, +0.0905, -0.2821, -0.2366, -0.2618, +0.2762, -0.2521, +0.1400, -0.1133, +0.0411, -0.0475, -0.4804, +0.4348, -0.1652, +0.0103, +0.2100, -0.3716, +0.1860, -0.3946, -0.1734, +0.2052],\n",
    "                [ -0.0266, -0.2590, -0.1527, +0.2632, -0.1506, -0.0040, -0.3828, -0.7623, -0.1620, -0.1641, +0.0927, +0.1030, -0.1890, +0.2110, +0.1634, -1.4356, +0.1170, -0.7333, -0.3429, -0.3402, +0.5740, +0.2288, +0.0264, -0.0770, +0.0611, +0.2538, +0.5611, -0.0635, -0.0885, -0.0698, +0.2153, +0.0752, -0.2368, +0.2113, -0.8473, -0.7176, -0.3615, -0.2906, +0.0310, +0.0041, -0.3076, +0.1850, +0.0959, -0.1510, +0.1042, +0.0781, +0.1000, -0.0701, -0.0252, +0.6513, +0.1680, +0.3624, -0.5958, -0.6897, +0.1336, -0.0600, +0.0437, -0.2525, +0.1216, -0.2053, +0.0452, +0.8903, -0.0487, -0.0072],\n",
    "                ])\n",
    "\n",
    "        bias1 = np.array([ +0.2226, +0.0124, +0.0027, +0.2335, +0.0952, +0.0250, +0.1087, +0.1225, +0.0476, +0.1535, +0.0940, +0.0421, +0.0967, +0.0431, -0.2867, -0.1520, -0.0796, +0.0041, +0.0599, +0.0139, -0.0608, -0.0695, +0.0222, +0.0420, -0.0988, +0.0851, +0.2547, +0.0361, +0.0341, +0.0986, +0.1827, -0.1344, +0.1575, +0.0374, +0.0497, -0.1436, +0.1622, +0.2187, +0.0257, +0.0680, -0.0228, +0.0215, +0.1596, -0.0594, -0.0886, -0.0006, -0.0940, +0.1568, +0.0610, +0.1915, +0.1162, +0.0765, -0.1731, -0.0258, +0.0896, -0.2285, +0.0948, +0.0286, +0.1174, +0.0382, +0.2536, +0.3435, +0.0281, +0.2328])\n",
    "\n",
    "        weights2 = np.array([\n",
    "                [ -0.0133, +0.0628, -0.6441, +0.2383, +0.4270, +0.1927, -0.3628, +0.3698],\n",
    "                [ -0.0089, +0.0614, +0.0522, -0.3912, -0.1872, -0.7369, +0.0852, -0.1505],\n",
    "                [ +0.2779, +0.7024, -0.3493, -0.2124, -0.0220, +0.0741, +0.0670, -0.1029],\n",
    "                [ -0.0519, +0.2775, -0.3879, -0.0335, +0.1150, +0.0789, -0.1963, +0.1992],\n",
    "                [ +0.0241, +0.2946, +0.2777, -0.2040, +0.4150, +0.0810, -0.0170, -0.0202],\n",
    "                [ -0.2781, +0.0243, -0.0485, +0.1249, -0.0354, -0.0327, +0.2284, -0.3674],\n",
    "                [ -0.1843, +0.1452, -0.0728, +0.2894, +0.1892, +0.0013, +0.1527, -0.3815],\n",
    "                [ +0.4556, -0.1760, +0.0188, -0.2475, -0.3291, -0.3527, -0.6556, -0.5543],\n",
    "                [ +0.0309, +0.3396, +0.0626, -0.0045, +0.2597, -0.2234, +0.3634, -0.1476],\n",
    "                [ -0.3221, +0.4484, +0.0538, +0.2543, -0.3213, +0.4323, -0.2503, +0.0654],\n",
    "                [ +0.5351, -0.2229, -0.1097, +0.1062, -0.5535, +0.4454, +0.1802, +0.1971],\n",
    "                [ +0.1813, +0.0778, +0.1647, -0.1118, +0.4696, -0.3322, -0.2033, -0.0201],\n",
    "                [ +0.1423, +0.2278, +0.0263, +0.1439, +0.0134, -0.5282, +0.1236, -0.0416],\n",
    "                [ +0.1217, +0.1197, -0.5194, +0.4029, -0.1307, -0.4352, -0.0514, -0.2256],\n",
    "                [ +0.1484, +0.0685, +0.4156, +0.1887, -0.7306, +0.1027, -0.4018, +0.0134],\n",
    "                [ +0.2326, +0.0218, +0.0390, +0.0010, -0.5719, +0.0264, -0.4600, -0.3220],\n",
    "                [ -0.0586, -0.3066, +0.2050, +0.1253, +0.4542, +0.1711, -0.6051, +0.0061],\n",
    "                [ +0.0108, -0.5588, -0.3976, +0.3375, +0.3065, +0.2118, -0.4879, +0.1444],\n",
    "                [ -0.1443, -0.2895, -0.3992, +0.0409, +0.3109, -0.0295, -0.2016, -0.3679],\n",
    "                [ -0.2630, +0.2348, +0.2592, +0.1778, -0.1501, -0.2856, +0.3477, +0.1416],\n",
    "                [ -0.3078, -0.3138, +0.2040, -0.3254, +0.2891, +0.0228, -0.3580, +0.2438],\n",
    "                [ -0.0035, -0.1374, +0.9035, +0.1420, +0.1437, -0.1159, -0.1822, +0.2037],\n",
    "                [ +0.2533, -0.0089, -0.1549, +0.1085, -0.5376, -0.0639, +0.3232, +0.0673],\n",
    "                [ -0.1033, +0.2733, +0.1426, +0.4075, -0.1140, +0.1152, +0.2189, +0.7337],\n",
    "                [ +0.0682, -0.1010, +0.2224, +0.4526, +0.0599, +0.1290, -0.5523, +0.0333],\n",
    "                [ +0.1089, -0.1139, -0.0310, -0.2661, +0.0781, -0.1955, -0.2610, +0.1017],\n",
    "                [ +0.0011, +0.4399, -0.2365, -0.1523, -0.1508, +0.2314, +0.1414, +0.1116],\n",
    "                [ +0.0014, -0.0973, +0.6542, -0.0039, -0.2656, -0.1597, +0.0158, -0.0201],\n",
    "                [ -0.1700, +0.0102, +0.1321, -0.1934, -0.2208, +0.0057, +0.1504, +0.3798],\n",
    "                [ +0.1586, +0.0557, +0.1042, -0.4201, +0.0613, -0.0152, -0.3855, +0.1035],\n",
    "                [ -0.0969, -0.0936, +0.1289, -0.4031, +0.1148, +0.3258, +0.2017, -0.2499],\n",
    "                [ +0.5422, -0.3985, -0.0758, -0.0241, +0.1124, +0.0043, -0.0495, -0.1127],\n",
    "                [ +0.1679, -0.1337, -0.2102, -0.0678, +0.0768, -0.5881, +0.0327, -0.1429],\n",
    "                [ +0.2756, -0.1772, -0.3729, -0.0931, +0.6402, -0.0739, -0.1221, +0.5423],\n",
    "                [ -0.2310, -0.6409, -0.0729, -0.2143, +0.0735, -0.3279, -0.1317, -0.2060],\n",
    "                [ -0.0864, +0.0344, -0.5635, +0.3137, -0.0566, -0.3874, -0.0119, +0.0187],\n",
    "                [ +0.4066, +0.1192, +0.2065, +0.0546, +0.2182, +0.6743, +0.2802, -0.0638],\n",
    "                [ +0.2526, +0.6688, -0.0943, -0.2531, +0.1259, +0.1115, +0.0581, -0.0340],\n",
    "                [ +0.1820, +0.2927, -0.2457, +0.0310, -0.3335, -0.5889, +0.0088, +0.3045],\n",
    "                [ +0.0072, -0.0702, +0.1246, +0.0875, +0.0488, +0.2379, -0.1760, -0.5422],\n",
    "                [ +0.1416, +0.1796, -0.7311, +0.0016, -0.4996, +0.0724, -0.4854, +0.2310],\n",
    "                [ -0.5525, +0.1246, +0.8667, +0.3521, -0.7227, +0.4473, +0.0805, -0.1707],\n",
    "                [ -0.3557, +0.0798, +0.5322, -0.0827, +0.1836, +0.2784, -0.1676, -0.1012],\n",
    "                [ -0.6738, +0.5545, -0.3111, +0.2171, -0.3377, -0.2039, -0.1205, +0.1212],\n",
    "                [ -0.2249, -0.1037, -0.4715, -0.3616, +0.2250, +0.0999, +0.4772, -0.0679],\n",
    "                [ -0.4895, -0.2557, +0.0892, -0.0000, -0.4443, +0.2913, -0.0450, -0.3303],\n",
    "                [ -0.2729, +0.0973, +0.2516, -0.4313, -0.1743, -0.2386, -0.1142, -0.0440],\n",
    "                [ -0.6820, +0.2449, -0.1079, +0.3047, +0.0325, -0.0980, +0.1868, -0.1600],\n",
    "                [ -0.2085, -0.2897, -0.4539, -0.0506, +0.1225, +0.1976, -0.2360, +0.6553],\n",
    "                [ +0.5299, +0.2876, +0.2354, -0.0884, -0.1821, +0.3841, -0.0701, +0.0278],\n",
    "                [ -0.1594, -0.4837, +0.1483, -0.1280, +0.0962, -0.1932, +0.1730, +0.0544],\n",
    "                [ +0.2879, -0.1846, +0.1474, -0.3383, +0.1483, +0.1159, +0.3761, +0.2326],\n",
    "                [ -0.0960, -0.0727, -0.3099, +0.0548, +0.2339, -0.2232, +0.6066, +0.3826],\n",
    "                [ -0.0171, +0.1490, -0.3324, -0.0231, +0.0700, -0.6364, -0.1944, +0.3094],\n",
    "                [ +0.0804, -0.0278, +0.0182, -0.3807, -0.3628, -0.3564, +0.2279, -0.0226],\n",
    "                [ +0.4219, +0.0741, +0.1299, +0.4700, +0.1927, +0.0849, -0.1574, +0.5607],\n",
    "                [ +0.0810, -0.0815, +0.1356, +0.2048, -0.1404, -0.0222, -0.2464, +0.4991],\n",
    "                [ +0.3000, +0.0862, -0.3917, +0.4117, +0.0306, +0.0788, -0.0403, -0.6423],\n",
    "                [ -0.2445, +0.4847, +0.0478, -0.2170, -0.3700, +0.0189, +0.0001, -0.0335],\n",
    "                [ +0.3710, -0.0115, -0.4207, -0.4245, +0.2041, -0.0875, -0.2369, -0.6424],\n",
    "                [ -0.3608, +0.0539, -0.3928, -0.0352, +0.2832, +0.1003, -0.0082, +0.3201],\n",
    "                [ +0.2221, -0.0399, +0.2092, -0.1670, -0.5146, +0.2273, +0.3011, -0.2879],\n",
    "                [ +0.1500, +0.3236, +0.1295, -0.0763, -0.2708, +0.6542, +0.1379, -0.0646],\n",
    "                [ +0.1291, +0.0417, +0.1386, +0.0166, +0.1373, +0.1956, +0.4986, +0.5690],\n",
    "                ])\n",
    "\n",
    "        bias2 = np.array([ -0.0680, +0.1401, -0.0628, -0.1317, +0.1489, +0.1844, -0.1147, +0.0137])\n",
    "\n",
    "        hidden1 = (np.dot(observation, weights0) + bias0).clip(min=0)\n",
    "        hidden2 = (np.dot(hidden1, weights1) + bias1).clip(min=0)\n",
    "        action = np.dot(hidden2, weights2) + bias2\n",
    "        return action\n",
    "\n",
    "    def close(self):\n",
    "        pass\n",
    "\n",
    "\n",
    "agent = Agent()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Test and Visualize"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "scrolled": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "00:01:19 [INFO] ==== test ====\n",
      "00:01:52 [DEBUG] test episode 0: reward = 2174.83, steps = 1000\n",
      "00:02:24 [DEBUG] test episode 1: reward = 2180.62, steps = 1000\n",
      "00:02:56 [DEBUG] test episode 2: reward = 2161.10, steps = 1000\n",
      "00:03:28 [DEBUG] test episode 3: reward = 2144.72, steps = 1000\n",
      "00:04:00 [DEBUG] test episode 4: reward = 2154.83, steps = 1000\n",
      "00:04:32 [DEBUG] test episode 5: reward = 2125.08, steps = 1000\n",
      "00:05:03 [DEBUG] test episode 6: reward = 2032.90, steps = 1000\n",
      "00:05:35 [DEBUG] test episode 7: reward = 2199.77, steps = 1000\n",
      "00:06:07 [DEBUG] test episode 8: reward = 2096.50, steps = 1000\n",
      "00:06:39 [DEBUG] test episode 9: reward = 2114.34, steps = 1000\n",
      "00:07:11 [DEBUG] test episode 10: reward = 2191.08, steps = 1000\n",
      "00:07:43 [DEBUG] test episode 11: reward = 2165.96, steps = 1000\n",
      "00:08:16 [DEBUG] test episode 12: reward = 1322.31, steps = 1000\n",
      "00:08:48 [DEBUG] test episode 13: reward = 2150.42, steps = 1000\n",
      "00:09:20 [DEBUG] test episode 14: reward = 2128.86, steps = 1000\n",
      "00:09:52 [DEBUG] test episode 15: reward = 2059.04, steps = 1000\n",
      "00:10:24 [DEBUG] test episode 16: reward = 2055.18, steps = 1000\n",
      "00:10:55 [DEBUG] test episode 17: reward = 2200.61, steps = 1000\n",
      "00:11:28 [DEBUG] test episode 18: reward = 1231.14, steps = 1000\n",
      "00:12:00 [DEBUG] test episode 19: reward = 2094.50, steps = 1000\n",
      "00:12:32 [DEBUG] test episode 20: reward = 2139.53, steps = 1000\n",
      "00:13:04 [DEBUG] test episode 21: reward = 2042.30, steps = 1000\n",
      "00:13:36 [DEBUG] test episode 22: reward = 2149.07, steps = 1000\n",
      "00:14:08 [DEBUG] test episode 23: reward = 2116.32, steps = 1000\n",
      "00:14:40 [DEBUG] test episode 24: reward = 2083.02, steps = 1000\n",
      "00:15:12 [DEBUG] test episode 25: reward = 2132.57, steps = 1000\n",
      "00:15:44 [DEBUG] test episode 26: reward = 2120.83, steps = 1000\n",
      "00:16:17 [DEBUG] test episode 27: reward = 2109.94, steps = 1000\n",
      "00:16:49 [DEBUG] test episode 28: reward = 2140.07, steps = 1000\n",
      "00:17:21 [DEBUG] test episode 29: reward = 2112.82, steps = 1000\n",
      "00:17:52 [DEBUG] test episode 30: reward = 2174.81, steps = 1000\n",
      "00:18:25 [DEBUG] test episode 31: reward = 2149.33, steps = 1000\n",
      "00:18:56 [DEBUG] test episode 32: reward = 2182.94, steps = 1000\n",
      "00:19:28 [DEBUG] test episode 33: reward = 2156.82, steps = 1000\n",
      "00:20:00 [DEBUG] test episode 34: reward = 2167.44, steps = 1000\n",
      "00:20:33 [DEBUG] test episode 35: reward = 2122.41, steps = 1000\n",
      "00:21:05 [DEBUG] test episode 36: reward = 2122.55, steps = 1000\n",
      "00:21:37 [DEBUG] test episode 37: reward = 2159.66, steps = 1000\n",
      "00:22:09 [DEBUG] test episode 38: reward = 2167.57, steps = 1000\n",
      "00:22:41 [DEBUG] test episode 39: reward = 2153.41, steps = 1000\n",
      "00:23:13 [DEBUG] test episode 40: reward = 2120.14, steps = 1000\n",
      "00:23:45 [DEBUG] test episode 41: reward = 2158.73, steps = 1000\n",
      "00:24:17 [DEBUG] test episode 42: reward = 2178.03, steps = 1000\n",
      "00:24:49 [DEBUG] test episode 43: reward = 2180.96, steps = 1000\n",
      "00:25:21 [DEBUG] test episode 44: reward = 2150.24, steps = 1000\n",
      "00:25:53 [DEBUG] test episode 45: reward = 2104.69, steps = 1000\n",
      "00:26:25 [DEBUG] test episode 46: reward = 2176.51, steps = 1000\n",
      "00:26:57 [DEBUG] test episode 47: reward = 2107.17, steps = 1000\n",
      "00:27:29 [DEBUG] test episode 48: reward = 2102.82, steps = 1000\n",
      "00:28:01 [DEBUG] test episode 49: reward = 2079.62, steps = 1000\n",
      "00:28:34 [DEBUG] test episode 50: reward = 2076.23, steps = 1000\n",
      "00:29:06 [DEBUG] test episode 51: reward = 2061.52, steps = 1000\n",
      "00:29:38 [DEBUG] test episode 52: reward = 2167.57, steps = 1000\n",
      "00:30:09 [DEBUG] test episode 53: reward = 2142.25, steps = 1000\n",
      "00:30:41 [DEBUG] test episode 54: reward = 2126.13, steps = 1000\n",
      "00:31:14 [DEBUG] test episode 55: reward = 2135.17, steps = 1000\n",
      "00:31:46 [DEBUG] test episode 56: reward = 2110.51, steps = 1000\n",
      "00:32:18 [DEBUG] test episode 57: reward = 2193.86, steps = 1000\n",
      "00:32:50 [DEBUG] test episode 58: reward = 2093.82, steps = 1000\n",
      "00:33:22 [DEBUG] test episode 59: reward = 2157.03, steps = 1000\n",
      "00:33:54 [DEBUG] test episode 60: reward = 1739.06, steps = 1000\n",
      "00:34:26 [DEBUG] test episode 61: reward = 2168.69, steps = 1000\n",
      "00:34:58 [DEBUG] test episode 62: reward = 2109.19, steps = 1000\n",
      "00:35:30 [DEBUG] test episode 63: reward = 2202.91, steps = 1000\n",
      "00:36:02 [DEBUG] test episode 64: reward = 2142.59, steps = 1000\n",
      "00:36:34 [DEBUG] test episode 65: reward = 2118.62, steps = 1000\n",
      "00:37:06 [DEBUG] test episode 66: reward = 2171.68, steps = 1000\n",
      "00:37:38 [DEBUG] test episode 67: reward = 2123.16, steps = 1000\n",
      "00:38:10 [DEBUG] test episode 68: reward = 2100.32, steps = 1000\n",
      "00:38:42 [DEBUG] test episode 69: reward = 2149.48, steps = 1000\n",
      "00:39:14 [DEBUG] test episode 70: reward = 2177.86, steps = 1000\n",
      "00:39:46 [DEBUG] test episode 71: reward = 2038.84, steps = 1000\n",
      "00:40:18 [DEBUG] test episode 72: reward = 2162.94, steps = 1000\n",
      "00:40:50 [DEBUG] test episode 73: reward = 2181.86, steps = 1000\n",
      "00:41:21 [DEBUG] test episode 74: reward = 2163.36, steps = 1000\n",
      "00:41:53 [DEBUG] test episode 75: reward = 2145.14, steps = 1000\n",
      "00:42:25 [DEBUG] test episode 76: reward = 1955.74, steps = 1000\n",
      "00:42:57 [DEBUG] test episode 77: reward = 2030.81, steps = 1000\n",
      "00:43:29 [DEBUG] test episode 78: reward = 2173.66, steps = 1000\n",
      "00:44:01 [DEBUG] test episode 79: reward = 2171.02, steps = 1000\n",
      "00:44:33 [DEBUG] test episode 80: reward = 2125.62, steps = 1000\n",
      "00:45:05 [DEBUG] test episode 81: reward = 2171.85, steps = 1000\n",
      "00:45:38 [DEBUG] test episode 82: reward = 2135.38, steps = 1000\n",
      "00:46:10 [DEBUG] test episode 83: reward = 2159.50, steps = 1000\n",
      "00:46:42 [DEBUG] test episode 84: reward = 2177.91, steps = 1000\n",
      "00:47:13 [DEBUG] test episode 85: reward = 1992.82, steps = 1000\n",
      "00:47:45 [DEBUG] test episode 86: reward = 2097.78, steps = 1000\n",
      "00:48:17 [DEBUG] test episode 87: reward = 2156.58, steps = 1000\n",
      "00:48:49 [DEBUG] test episode 88: reward = 2131.89, steps = 1000\n",
      "00:49:21 [DEBUG] test episode 89: reward = 2165.43, steps = 1000\n",
      "00:49:53 [DEBUG] test episode 90: reward = 2125.96, steps = 1000\n",
      "00:50:25 [DEBUG] test episode 91: reward = 2172.29, steps = 1000\n",
      "00:50:57 [DEBUG] test episode 92: reward = 2149.17, steps = 1000\n",
      "00:51:29 [DEBUG] test episode 93: reward = 2134.63, steps = 1000\n",
      "00:52:01 [DEBUG] test episode 94: reward = 2096.43, steps = 1000\n",
      "00:52:33 [DEBUG] test episode 95: reward = 2201.25, steps = 1000\n",
      "00:53:05 [DEBUG] test episode 96: reward = 2016.48, steps = 1000\n",
      "00:53:37 [DEBUG] test episode 97: reward = 2170.00, steps = 1000\n",
      "00:54:09 [DEBUG] test episode 98: reward = 2059.56, steps = 1000\n",
      "00:54:41 [DEBUG] test episode 99: reward = 2121.42, steps = 1000\n",
      "00:54:41 [INFO] average episode reward = 2110.99 ± 134.03\n"
     ]
    }
   ],
   "source": [
    "def play_episode(env, agent, max_episode_steps=None, mode=None, render=False):\n",
    "    if render:\n",
    "        env.render(mode=\"human\")\n",
    "    observation, reward, done = env.reset(), 0., False\n",
    "    agent.reset(mode=mode)\n",
    "    episode_reward, elapsed_steps = 0., 0\n",
    "    while True:\n",
    "        if render:\n",
    "            adjust_camera()\n",
    "            env.render(\"human\")\n",
    "            time.sleep(0.02)\n",
    "        action = agent.step(observation, reward, done)\n",
    "        if done:\n",
    "            break\n",
    "\n",
    "        observation, reward, done, _ = env.step(action)\n",
    "        episode_reward += reward\n",
    "        elapsed_steps += 1\n",
    "        if max_episode_steps and elapsed_steps >= max_episode_steps:\n",
    "            break\n",
    "    agent.close()\n",
    "    return episode_reward, elapsed_steps\n",
    "\n",
    "\n",
    "logging.info('==== test ====')\n",
    "episode_rewards = []\n",
    "for episode in range(100):\n",
    "    episode_reward, elapsed_steps = play_episode(env, agent, render=True)\n",
    "    episode_rewards.append(episode_reward)\n",
    "    logging.debug('test episode %d: reward = %.2f, steps = %d',\n",
    "            episode, episode_reward, elapsed_steps)\n",
    "logging.info('average episode reward = %.2f ± %.2f',\n",
    "        np.mean(episode_rewards), np.std(episode_rewards))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "env.close()"
   ]
  }
 ],
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